diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 3f9cb647a0c905755089b97ec45053b1a1573320..237bc31cc8827f0fb9f80284bf0c639c23d093ec 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -215,38 +215,21 @@ namespace armarx::armem::articulated_object
             return false;
         }
 
-        ARMARX_INFO << "Class id is " << classId->str();
-
         // install memory link
-        // toAron(aronArticulatedObject.description, *descriptionId);
         toAron(objectInstance.classID, *classId);
 
-        // armarx::arondto::ObjectID& objectId = objectInstance.pose.objectID;
-
         armem::MemoryID id;
         id.setEntityID(classId->getEntityID());
 
-        // auto classId2 = classId->getEntityID();
-        // classId2.setEntityID(const MemoryID &id)
-
-        ARMARX_INFO << "manual object id: " << id.providerSegmentName + "/" + id.entityName;
-
         armarx::ObjectID objectId(id.entityName);
 
         armarx::arondto::ObjectID cs;
-        // objectInstance.pose.objectID
-        // toAron(objectInstance.pose.objectID, objectId);
-
         cs.className = objectId.className();
         cs.instanceName = objectId.instanceName();
         cs.dataset = objectId.dataset();
 
         objectInstance.pose.objectID = cs;
 
-        ARMARX_INFO << "class entity id" << classId->getEntityID().str();
-
-        // toAron(objectInstance.pose.objectID, objectInstance.classID);
-
         update.instancesData = {objectInstance.toAron()};
         update.timeCreated   = timestamp;
 
@@ -273,9 +256,7 @@ namespace armarx::armem::articulated_object
                            << "Known classes are " << simox::alg::get_keys(knownObjects);
             return false;
         }
-        ARMARX_INFO << "Object classId is " << classId->str();
 
-        // TODO(fabian.reister): integrate memory link
         return storeInstance(obj);
     }
 
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 5fd9b28ee64f94744d7f209365ae7d1343a0e33e..db706075c9bd5431fefd2b04b7634cf5e8ff6747 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -117,9 +117,9 @@ namespace armarx::armem::server::obj::instance
 
     void Segment::connect(viz::Client arviz)
     {
-        ARMARX_INFO << "ArticulatedObjectVisu";
-        this->visu = std::make_unique<ArticulatedObjectVisu>(arviz, *this);
-        visu->init();
+        // ARMARX_INFO << "ArticulatedObjectVisu";
+        // this->visu = std::make_unique<ArticulatedObjectVisu>(arviz, *this);
+        // visu->init();
     }
 
 
@@ -227,12 +227,18 @@ namespace armarx::armem::server::obj::instance
             update.confidence = pose.confidence;
 
             arondto::ObjectInstance dto;
+            toAron(dto, pose);
             // Search for object class.
             if (auto instance = findClassInstance(pose.objectID))
             {
-                fromAron(dto.classID,  instance->id());
-
+                toAron(dto.classID, instance->id());
+            }
+            else
+            {
+                toAron(dto.classID, MemoryID());
             }
+            toAron(dto.sourceID, MemoryID());
+            update.instancesData.push_back(dto.toAron());
 
         }
         iceMemory.commit(commit);